Added new platform: Particle Photon board.

.gitignore

@@ -9,3 +9,6 @@
 
 # CMake build
 build/*
+
+# External lib files
+libs/particle-firmware

CMakeLists.txt

@@ -1,70 +1,26 @@
 cmake_minimum_required(VERSION 3.2)
 
-set(CMAKE_DISABLE_SOURCE_CHANGES ON)
-#set(CMAKE_VERBOSE_MAKEFILE TRUE)
-set(CMAKE_CXX_STANDARD 14)
-
-set(SOURCE_FILES
-        src/cycle_phase_classifier.cpp
-        src/data_frame_decoder.cpp
-        src/formatters.cpp
-        src/geometry.cpp
-        src/input.cpp
-        src/mavlink.cpp
-        src/pulse_processor.cpp
-        src/primitives/string_utils.cpp
-)
-
-set(PLATFORM_SPECIFIC_SOURCE_FILES
-        src/main.cpp
-        src/settings.cpp
-        src/debug_node.cpp
-        src/input_cmp.cpp
-        src/led_state.cpp
-        src/outputs.cpp
-        src/platform.cpp
-        src/vive_sensors_pipeline.cpp
-        src/primitives/timestamp.cpp
-)
-
-set(TEST_SOURCE_FILES
-        test/main_test.cpp
-        test/platform_mocks.cpp
-        test/test_pulse_processor.cpp
-)
-
-if (NOT TEST_MODE)
-    set(CMAKE_TOOLCHAIN_FILE "teensy-arm.toolchain.cmake")
-
+if (${PLATFORM} MATCHES "Teensy")
+    set(CMAKE_TOOLCHAIN_FILE "platform-teensy/teensy-arm.toolchain.cmake")
     project(vive-diy-position-sensor)
+    add_subdirectory(platform-teensy)
+    add_subdirectory(src)
 
-    add_executable(vive-diy-position-sensor "${SOURCE_FILES}" "${PLATFORM_SPECIFIC_SOURCE_FILES}")
-    add_firmware_targets(vive-diy-position-sensor)
-
-    import_cmsis_dsp_library(vive-diy-position-sensor)
-    import_arduino_library(vive-diy-position-sensor mavlink_v2)
+elseif (${PLATFORM} MATCHES "Particle")
+    set(CMAKE_TOOLCHAIN_FILE "platform-particle/stm32f2xx.toolchain.cmake")
+    project(vive-diy-position-sensor)
+    add_subdirectory(platform-particle)
+    add_subdirectory(src)
 
-else()
+elseif (${PLATFORM} MATCHES "Host_Test")
+    # Need to define project at the top level to be able to call ctest from build directory
+    set(CMAKE_TOOLCHAIN_FILE "test/32bit.toolchain.cmake")
     project(vive-diy-position-sensor)
     include(CTest)
+    add_subdirectory(test)
+    add_subdirectory(src)
 
-    # Compile 32 bit code
-    add_compile_options("-m32")
-    link_libraries("-m32")
-    if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-        add_compile_options("-Wno-deprecated-register" "-Wno-unknown-attributes")
-    endif()
-
-    # Compile CMSIS as a library.
-    set(CMSIS_ROOT "${CMAKE_SOURCE_DIR}/libs/CMSIS/CMSIS" CACHE PATH "Path to the CMSIS root directory")
-    file(GLOB_RECURSE CMSIS_CORE_FILES "${CMSIS_ROOT}/DSP_Lib/Source/*_f32.c")
-    add_library(CMSIS "${CMSIS_CORE_FILES}" "${CMSIS_ROOT}/DSP_Lib/Source/CommonTables/arm_common_tables.c")
-    target_compile_definitions(CMSIS PUBLIC "-DARM_MATH_CM4")
-    link_libraries(CMSIS)
+else()
+    message(FATAL_ERROR "Please provide PLATFORM env variable")
 
-    # We have only one test executable
-    add_definitions("-DNEW_H")  # Don't include new.h header as it defines non-standard operator new().
-    include_directories("libs/Catch" "libs/CMSIS/CMSIS/Include" "libs/cores/teensy3" "libs/mavlink_v2" "src")
-    add_executable(main-test "${TEST_SOURCE_FILES}" "${SOURCE_FILES}")
-    add_test(main-test main-test)
 endif()

cmake-variants.json

@@ -1,23 +1,30 @@
 {
     "buildType": {
-        "default$": "debug",
+        "default$": "teensy",
         "description$": "the build type to use",
-        "debug": {
-            "oneWordSummary$": "Debug",
-            "description$": "Enable optimizations, include debug info",
-            "buildType": "Debug"
+        "teensy": {
+            "oneWordSummary$": "Teensy",
+            "description$": "Create firmware for Teensy",
+            "buildType": "Debug",
+            "settings": {
+                "PLATFORM": "Teensy"
+            }
         },
-        "release": {
-            "oneWordSummary$": "Release",
-            "description$": "Enable optimizations, omit debug info",
-            "buildType": "Release"
+        "particle": {
+            "oneWordSummary$": "Photon",
+            "description$": "Create library for Particle Photon",
+            "buildType": "Debug",
+            "settings": {
+                "PLATFORM": "Particle",
+                "PARTICLE_PLATFORM": "photon"
+            }
         },
         "test": {
             "oneWordSummary$": "Test",
             "description$": "Test the project",
             "buildType": "Debug",
             "settings": {
-                "TEST_MODE": "TRUE",
+                "PLATFORM": "Host_Test",
                 "CMAKE_C_COMPILER": "/usr/local/bin/gcc-6",
                 "CMAKE_CXX_COMPILER": "/usr/local/bin/g++-6"
             }

src/cycle_phase_classifier.h → include/cycle_phase_classifier.h

@@ -33,7 +33,7 @@ class CyclePhaseClassifier {
 
     // Print debug information.
     virtual bool debug_cmd(HashedWord *input_words);
-    virtual void debug_print(Print& stream);
+    virtual void debug_print(PrintStream &stream);
 
 private:
     float expected_pulse_len(bool skip, bool data, bool axis);

src/data_frame_decoder.h → include/data_frame_decoder.h

@@ -38,7 +38,7 @@ class DataFrameDecoder
     virtual void consume(const DataFrameBit &bit);
 
     virtual bool debug_cmd(HashedWord *input_words);
-    virtual void debug_print(Print& stream);
+    virtual void debug_print(PrintStream &stream);
 
 private:
     void reset();

src/debug_node.h → include/debug_node.h

@@ -1,6 +1,7 @@
 #pragma once
 #include "primitives/workers.h"
 #include "primitives/producer_consumer.h"
+#include "primitives/string_utils.h"
 #include "print_helpers.h"
 
 // This node calls debug_cmd and debug_print for all pipeline nodes periodically,
@@ -16,7 +17,7 @@ class DebugNode
     virtual void consume_line(char *line, Timestamp time);
     virtual void do_work(Timestamp cur_time);
     virtual bool debug_cmd(HashedWord *input_words);
-    virtual void debug_print(Print &stream);
+    virtual void debug_print(PrintStream &stream);
 
 private:
     void set_output_attached(bool attached);
@@ -28,3 +29,6 @@ class DebugNode
     bool output_attached_;
     bool print_debug_memory_;
 };
+
+// This function needs to be defined by the platform.
+void print_platform_memory_info(PrintStream &stream);

src/formatters.h → include/formatters.h

@@ -24,8 +24,8 @@ struct FormatterDef {
     CoordSysType coord_sys_type;
     CoordSysDef coord_sys_params;
 
-    void print_def(uint32_t idx, Print &stream);
-    bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream);
+    void print_def(uint32_t idx, PrintStream &stream);
+    bool parse_def(uint32_t idx, HashedWord *input_words, PrintStream &err_stream);
 };
 
 
@@ -35,7 +35,7 @@ class FormatterNode
     , public Producer<DataChunk> {
 public:
     virtual bool debug_cmd(HashedWord *input_words);
-    virtual void debug_print(Print& stream);
+    virtual void debug_print(PrintStream &stream);
 
 protected:
     FormatterNode(uint32_t idx, const FormatterDef &def);
@@ -79,7 +79,7 @@ class GeometryMavlinkFormatter : public GeometryFormatter {
     virtual void consume(const ObjectPosition& f);
 
     virtual bool debug_cmd(HashedWord *input_words);
-    virtual void debug_print(Print& stream);
+    virtual void debug_print(PrintStream &stream);
 
 private:
     bool position_valid(const ObjectPosition& g);

src/geometry.h → include/geometry.h

@@ -13,8 +13,8 @@ struct BaseStationGeometryDef {
     float mat[9];  // Normalized rotation matrix.
     vec3d origin;  // Origin point
 
-    void print_def(uint32_t idx, Print &stream);
-    bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream);
+    void print_def(uint32_t idx, PrintStream &stream);
+    bool parse_def(uint32_t idx, HashedWord *input_words, PrintStream &err_stream);
 };
 
 struct SensorLocalGeometry {
@@ -26,8 +26,8 @@ struct SensorLocalGeometry {
 struct GeometryBuilderDef {
     Vector<SensorLocalGeometry, 4> sensors;
 
-    void print_def(uint32_t idx, Print &stream);
-    bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream);
+    void print_def(uint32_t idx, PrintStream &stream);
+    bool parse_def(uint32_t idx, HashedWord *input_words, PrintStream &err_stream);
 };
 
 // Parent, abstract class for GeometryBuilders.
@@ -54,7 +54,7 @@ class PointGeometryBuilder : public GeometryBuilder {
     virtual void do_work(Timestamp cur_time);
 
     virtual bool debug_cmd(HashedWord *input_words);
-    virtual void debug_print(Print& stream);
+    virtual void debug_print(PrintStream &stream);
 
 private:
     ObjectPosition pos_;
@@ -89,7 +89,7 @@ class CoordinateSystemConverter
 
     virtual void consume(const ObjectPosition& geo);
     virtual bool debug_cmd(HashedWord *input_words);
-    virtual void debug_print(Print& stream);
+    virtual void debug_print(PrintStream &stream);
 
 private:
     float mat_[9];

src/input.h → include/input.h

@@ -2,13 +2,14 @@
 #include "primitives/workers.h"
 #include "primitives/producer_consumer.h"
 #include "primitives/circular_buffer.h"
+#include "primitives/static_registration.h"
 #include "messages.h"
 
 // We can use different Teensy hardware features to measure pulse timing, each with different pros and cons.
 // Look into each input type's header for details.
 enum class InputType {
     kCMP = 0,  // Comparator
-    kFTM = 1,  // Flexible Timer Module interrupts
+    kTimer = 1,// Timer Module interrupts
     kPort = 2, // Digital input interrupt
 };
 constexpr int kInputTypeCount = 3;
@@ -20,8 +21,8 @@ struct InputDef {
     InputType input_type;
     uint32_t initial_cmp_threshold;
 
-    void print_def(uint32_t idx, Print &stream);
-    bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream);
+    void print_def(uint32_t idx, PrintStream &stream);
+    bool parse_def(uint32_t idx, HashedWord *input_words, PrintStream &err_stream);
 };
 
 
@@ -32,10 +33,11 @@ class InputNode
 public:
     // Create input node of needed type from given configuration.
     static std::unique_ptr<InputNode> create(uint32_t input_idx, const InputDef &def);
+    typedef StaticRegistrar<decltype(create)*> CreatorRegistrar;
 
     virtual void do_work(Timestamp cur_time);
     virtual bool debug_cmd(HashedWord *input_words);
-    virtual void debug_print(Print& stream);
+    virtual void debug_print(PrintStream &stream);
 
 protected:
     InputNode(uint32_t input_idx);
@@ -49,6 +51,3 @@ class InputNode
     static constexpr int pulses_buffer_len = 32;
     CircularBuffer<Pulse, pulses_buffer_len> pulses_buf_;
 };
-
-// Create functions for each supported input types.
-std::unique_ptr<InputNode> createInputCmpNode(uint32_t input_idx, const InputDef &input_def);

src/outputs.h → include/outputs.h

@@ -3,6 +3,7 @@
 #pragma once
 #include "primitives/workers.h"
 #include "primitives/producer_consumer.h"
+#include "primitives/static_registration.h"
 #include "messages.h"
 
 // Currently supported: usb serial + 3x hardware serials.
@@ -12,43 +13,34 @@ struct OutputDef {
     bool active;
     uint32_t bitrate;
 
-    void print_def(uint32_t idx, Print &stream);
-    bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream);
+    void print_def(uint32_t idx, PrintStream &stream);
+    bool parse_def(uint32_t idx, HashedWord *input_words, PrintStream &err_stream);
 };
 
-class Stream;
-
 class OutputNode
     : public WorkerNode
     , public Consumer<DataChunk>
     , public Consumer<OutputCommand>
     , public Producer<DataChunk> {
 public:
     static std::unique_ptr<OutputNode> create(uint32_t idx, const OutputDef& def);
+    typedef StaticRegistrar<decltype(create)*> CreatorRegistrar;
 
     // Common methods that do i/o with the stream_ object.
     virtual void consume(const DataChunk &chunk);
     virtual void consume(const OutputCommand& cmd);
     virtual void do_work(Timestamp cur_time);
 
 protected:
-    OutputNode(uint32_t idx, const OutputDef& def, Stream &stream);
+    OutputNode(uint32_t idx, const OutputDef& def);
+
+    virtual size_t write(const uint8_t *buffer, size_t size) = 0;
+    virtual int read() = 0;
+
     uint32_t node_idx_;
     OutputDef def_;
-    Stream &stream_;
     DataChunk chunk_;
     bool exclusive_mode_;
     uint32_t exclusive_stream_idx_;
 };
 
-
-class UsbSerialOutputNode : public OutputNode {
-public:
-    UsbSerialOutputNode(uint32_t idx, const OutputDef& def);
-};
-
-class HardwareSerialOutputNode : public OutputNode {
-public:
-    HardwareSerialOutputNode(uint32_t idx, const OutputDef& def);
-    virtual void start();
-};

include/primitives/static_registration.h

@@ -0,0 +1,36 @@
+#pragma once
+
+// Class to help with (almost) compile-time class registration.
+// To use, add static instance of this class to the class that needs registering and provide creation
+// function. Then, you'll be able to iterate over all creation functions.
+template<typename T>
+struct StaticRegistrar {
+    StaticRegistrar(const T &val)
+        : val_(val) {
+        next_ = instance;
+        instance = this;
+    }
+    struct iterator {
+        const T &operator*() const { return cur->val_; }
+        iterator &operator++() { cur = cur->next_; return *this; }
+        bool operator!=(const iterator &it) const { return cur != it.cur; }
+        friend StaticRegistrar;
+    protected:
+        iterator(const StaticRegistrar *val): cur(val) {}
+    private:
+        const StaticRegistrar *cur;
+    };
+    struct iteration_range {
+        iterator begin() { return instance; }
+        iterator end() { return nullptr; }
+    };
+    static iteration_range iterate() { return {}; } 
+
+private:
+    const T val_;
+    StaticRegistrar *next_;
+    static StaticRegistrar *instance;
+};
+
+template<typename T>
+StaticRegistrar<T> *StaticRegistrar<T>::instance = nullptr;